通过增量创建的图形规划道路驾驶

Proceedings. The 7th International IEEE Conference on Intelligent Transportation Systems (IEEE Cat. No.04TH8749) Pub Date : 2004-10-03 DOI:10.1109/ITSC.2004.1398894

S. Balakirsky

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引用次数: 6

摘要

提出了一个通用的分层规划框架，该框架允许成本最优、逻辑约束的计划。该框架用于规划自动驾驶车辆在移动和静止物体之间行驶的道路路径。通过这个应用程序，演示了实现硬约束和软约束以及处理动态环境和用户目标的能力。

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Planning for on-road driving through incrementally created graphs

A general-purpose hierarchical planning framework that allows for cost-optimal, logic-constrained plans is presented. This framework is applied to planning an on-road path for an autonomous vehicle traveling amongst moving and stationary objects. Through this application, the ability to implement both hard and soft constraints, as well as cope with dynamic environments and user objectives are demonstrated.

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Proceedings. The 7th International IEEE Conference on Intelligent Transportation Systems (IEEE Cat. No.04TH8749)

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